Large deflection dynamics and control for planar continuum robots

Ian A. Gravagne, Ian D. Walker, Christopher D. Rahn

Research output: Contribution to conferencePaper

1 Scopus citations

Abstract

This paper focuses on a class of robot manipulators termed "continuum" robots - robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson "Tentacle Manipulator." In this work, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.

Original languageEnglish (US)
Pages1943-1952
Number of pages10
StatePublished - Dec 1 2001
Event18th Biennial Conference on Mechanical Vibration and Noise - Pittsburgh, PA, United States
Duration: Sep 9 2001Sep 12 2001

Other

Other18th Biennial Conference on Mechanical Vibration and Noise
CountryUnited States
CityPittsburgh, PA
Period9/9/019/12/01

All Science Journal Classification (ASJC) codes

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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    Gravagne, I. A., Walker, I. D., & Rahn, C. D. (2001). Large deflection dynamics and control for planar continuum robots. 1943-1952. Paper presented at 18th Biennial Conference on Mechanical Vibration and Noise, Pittsburgh, PA, United States.